Quote:
Originally Posted by 548swimmer
I am expecting this to be hard to control, and thats why I pulled the wheels toward the center.
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That makes it theoretically worse.
Because the diameter of the circle between the wheels is smaller, it takes less imbalance to cause it to stray to one direction.
We had a 6 wheel drive in 2008 that was flat, with 4 corner omnis and 2 center plaction wheels. It was too hard to keep it driving straight, for a second year driver, so we replaced the outer rear wheel with a kit wheel to add a little more friction sideways.
If it doesn't veer that much, you can probably fix it in software using a gyro. It has to be somewhat controllable for the software to work.